CN109490865A - A kind of novel face battle array laser radar - Google Patents
A kind of novel face battle array laser radar Download PDFInfo
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- CN109490865A CN109490865A CN201811512676.3A CN201811512676A CN109490865A CN 109490865 A CN109490865 A CN 109490865A CN 201811512676 A CN201811512676 A CN 201811512676A CN 109490865 A CN109490865 A CN 109490865A
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- laser
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a kind of novel face battle array laser radar, the face battle array laser radar includes: laser array, detector array, laser optical path adjustment device and signal light optical path adjustment device.The laser array is arranged in linear array, the laser array is arranged along first direction, the laser optical path adjustment device is the multiple planar optical waveguide PLC being stacked each other along first direction, the laser optical path adjustment device is set in front of the laser array, the detector array is arranged in a second direction, the signal light optical path adjustment device is multiple planar optical waveguide PLC stacked in a second direction, and the first direction is perpendiculared to one another with the second direction.
Description
Technical field
The present invention relates to optical fields, and in particular to a kind of novel face battle array laser radar.
Background technique
Laser radar is the radar system to emit the characteristic quantities such as the position of detecting laser beam target, speed.It is former from work
It is said in reason, the not basic difference with microwave radar: to objective emission detectable signal (laser beam), the slave mesh that then will receive
It marks reflected signal (target echo) to be compared with transmitting signal, after making proper treatment, so that it may obtain the related of target
Information, such as target range, orientation, height, speed, posture, even shape parameter, to be carried out to targets such as aircraft, guided missiles
Detection, tracking and identification.
Laser radar can generally be divided into laser ranging technique and scanning technique two parts.Wherein laser ranging technique master
Solve the problem of range measurement and imaging technique mainly solves light beam scanning.In polar coordinate system, distance and
Two angles, so that it may which a unique point for determining space, this is also that all laser radars realize that space three-dimensional scene is described
Theoretical basis.
Currently, having existed much records about laser radar in the prior art, the scanning of existing laser radar has very
A variety of existing solutions:
1. mechanical scanning
There are many kinds of forms for mechanical scanning, ranging unit are integrally such as carried out one-dimensional or Two Dimensional Rotating, so that laser beam
Cover space a certain range；Light beam is either directed toward to the space region formulated using the reflecting mirror of one or more surfaces rotation or vibration
Domain.
2. electrooptics scans harmony optical scanner
Deflection optical is realized using the electric light or acousto optic effect of material.
3. phased array
Fine phase controlling is carried out by the wavefront to light beam using Huygen's principle, to realize that the space of light beam is swept
It retouches.
4.mems scanning
Its essence is still the reflecting mirror of a surface vibration, and only mirror surface size is smaller.
It is existing it is above-mentioned all respectively have its disadvantage, mechanical scanning has large-sized rotatable parts, and service life, stability are vulnerable to the external world
Vibration influences.Electric light and acousto-optic scanning, control circuit is complicated, and scanning angle is small.Phased array manufacturing difficulty is big, deflection angle
It is small, there is secondary lobe.Mems is similar to mechanical scanning, and lens dimension is small, and mechanical characteristic is good, but still has rotary part, still can be by shadow
It rings.
Summary of the invention
In view of the deficiencies of the prior art, the present invention, which is desirable to provide, a kind of is able to solve the new of at least one of above problem
Type face battle array laser radar.
Specifically, the present invention provides a kind of novel face battle array laser radar, which is characterized in that the face battle array laser radar packet
It includes: laser array, detector array, optical lens, laser optical path adjustment device and signal light optical path adjustment device.
Preferably, the laser array is laser linear array, and the laser linear array is arranged along first direction, described to swash
Light optical path adjustment device is each other along multiple one-to-many beam splitting channels that first direction is stacked, and the laser optical path adjustment device is set
It is placed in front of the laser array, the detector array is classified as detector lines battle array, and the detector linear array is set in a second direction
Set, the signal light optical path adjustment device is multiple one-to-many beam splitting channels stacked in a second direction, the first direction with
The second direction is perpendicular to one another, and the optical lens is set to the laser optical path adjustment device and the adjustment of signal light optical path
In front of device.
Preferably, the laser optical path adjustment device is the multiple planar optical waveguide PLC being stacked each other along first direction, institute
Stating signal light optical path adjustment device is multiple planar optical waveguide PLC stacked in a second direction.
Preferably, the number of laser, laser optical path adjust the number of PLC, detector array in device in laser array
The number of PLC is mutually the same in the number of detector and signal light optical path adjustment device in column.
Preferably, in the planar optical waveguide PLC of the laser optical path adjustment device, the input of multiple planar optical waveguide PLC
Port is arranged by linear array, and each input port is corresponding with each light-emitting window of the laser array respectively；The signal light light
Road adjusts in the planar optical waveguide PLC of device, and the output port of multiple planar optical waveguide PLC is arranged by linear array, each output end
Corresponding detector is corresponding to the detector array respectively for mouth.
Preferably, the novel face battle array laser radar further includes sequence controller, and the sequence controller control is described to swash
Each laser sequential working in light device array, and when any one laser works, the sequence controller control
One-dimensional scanning is completed in each detector sequence starting in the detector array, after all lasers complete a wheel job,
Complete a wheel planar array scanning.
Preferably, the novel face battle array laser radar further includes sequence controller, and the sequence controller control is described to swash
All or part of laser in light device array works in a predetermined order, and when any one laser works, when described
Sequence controller controls all or part of detector in the detector array and starts in a predetermined order.
Inventive principle
Applicant is in R&D process it is noted that spatial beam can be angularly mapped on focal plane by optical lens.
It also means that, the point that two-dimensional movement is carried out on focal plane in fact just scans light angle.Existing one kind
Obvious optical scanning method is exactly the detector and laser of planar array type.Laser and detector are one-to-one.
But such production and manufacture difficulty are very high.State of the art is relatively difficult to achieve.
It is understood that the point in a plane is indicated with a coordinate (x, y), face battle array is exactly in fact to (x, y)
Carry out the traversal of discretization.And this process, common practice be exactly otherwise transmitting terminal carry out 2 dimension traversal or be to connect
Receiving end traversal or the two carry out simultaneously.
Regardless of just being had damage to human eye using which kind of traversal mode, transmitting terminal traversal or using high power laser,
Using face battle array laser, n*n laser identical as pixel is at high cost, and addressing is difficult, and driving circuit is also n*n.
Receiving end traverses or uses big visual field, and noise is high, and detection range is limited or uses planar array detector, with picture
Plain identical, n*n detector, at high cost, addressing is difficult, and amplifying circuit and timekeeping circuit are also n*n.
And this construction of the invention is used, and the direction x, y may be implemented while being traversed, n, laser, detector n
A, circuit scale becomes the first power of n from the quadratic power of n, and n is bigger, and advantage is bigger, but n can not be excessive, excessive, power
It distributes too small, still measures not far.
Technical effect
The present invention has been firstly introduced light cube, by by detector array and laser orthogonal arrangement, do not need it is any
In the case where moving component, only by the selected control of electronic device, so that it may rapidly realize two-dimensional array type scanning.
The present invention is using laser n, and detector n, circuit scale becomes the first power of n from the quadratic power of n, and n is bigger,
Advantage is bigger, but n can not be excessive, and excessive, power distribution is too small, still measures not far.
Preferably, N=16 or 32, at this point, in resolution ratio, circuit scale is measured and obtained between distance and measuring speed
Appropriate balance.It is at low cost, effect is good.
Laser radar of the invention, which does not need rotatable parts, can realize large-scale scanning, solve mechanical scanning
Service life, stability problem；Also, laser radar control circuit of the invention is simple, it is only necessary to can be realized in corresponding optical path and visit
The selected control for surveying device is opened, also, the difficulty that laser radar of the invention is manufactured is much smaller than phased array devices, and can
Big with the investigative range of realization, investigative range is only limited by the field angle of optical lens, no secondary lobe.
Detailed description of the invention
Fig. 1 is the rough schematic view of laser radar of the invention；
Fig. 2 is the structural representation after multiple planar optical waveguide PLC (Planar Lightwave Circuit) sequence is stacked
Figure；
Fig. 3 is main view, left view and the rearview of the light cube formed after 16 planar optical waveguides are stacked；
Fig. 4 is the structural schematic diagram of detector array employed in the embodiment of the present invention；
Fig. 5 is the structural schematic diagram of laser array employed in the embodiment of the present invention；
Fig. 6 is the structural schematic diagram after being combined detector array and light cube；
Fig. 7 is the structural schematic diagram after being combined laser array and light cube；
Fig. 8 is the light channel structure schematic diagram of planar optical waveguide PLC employed in the present invention；
Fig. 9 is when carrying out laser ranging, and light beam is incident on the schematic diagram on focal plane.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawings and embodiments, but not therefore by protection scope of the present invention
It is limited among the range of embodiment description.
Embodiment 1
In the present embodiment, as shown in Figure 1, face battle array laser radar includes: laser array 1, detector array 2, laser light
Road adjusts device 3 and signal light optical path adjustment device 4 and two optical lens 5.Laser array uses linear array diode laser
Array, laser array is horizontally disposed, and it is the multiple planes being stacked in the horizontal direction each other that laser optical path, which adjusts device,
Optical waveguide PLC, laser optical path adjustment device are set in front of laser array, and detector array is arranged along the vertical direction, signal
Light optical path adjustment device is multiple planar optical waveguide PLC stacked along the vertical direction, the orientation and detection of laser array
Device array is perpendicular to one another.
It is stacked using multiple planar optical waveguide PLC in the present embodiment, two light cube are separately constituted, a light cube is used as
Laser optical path adjusts device 3, another is used as signal light optical path adjustment device 4, is respectively placed in laser array and detector array
Column front.
As shown in Fig. 2, each light cube has 16 layers, and every layer of side of each light cube has 16 ports,
Laterally arrangement, the other side only have a port, and 16 ports of side can be single with the other side in every layer of light cube
Port connection.
In the present embodiment, the number of laser in laser array, in two light cube PLC number and detector array
The number of detector is all 16 in column.
For the light cube in front of laser array, every layer of planar optical waveguide PLC has input and 16 all the way
Road output, the input port of multiple planar optical waveguide PLC by linear array arrangement, each input port respectively with the laser battle array
Each light-emitting window of column is corresponding.
For the light cube in front of detector array, every layer of planar optical waveguide PLC has the input of 16 tunnels and 1 tunnel
Output, the output port of multiple planar optical waveguide PLC by linear array arrangement, each output port respectively with the detector array
Signal detection region is corresponding.Every 16 tunnel Ceng input amounts to 16 layers of face battle array for being combined into 16*16.
Certainly, although it should be appreciated by those skilled in the art that be illustrated by taking the battle array of the face of 16*16 as an example herein,
It is those skilled in the art under the inspiration of present inventive concept, the face battle array of other numbers can be used, for example, 8*8,64*64, etc.
Deng.Preferably, the n times side that the number on one side of face battle array is 2, n are the positive integer more than or equal to 2.
Face battle array laser radar of the invention when in use, the two dimension traversal of existing laser radar is separately carried out, by emitting
End carries out x traversal (vertical direction in figure), and receiving end carries out y traversal (horizontal direction in figure).Since xy is orthogonal, the two group
Altogether, just it is able to achieve two-dimensional traversal.
The present invention uses one-to-many planar optical waveguide PLC, and effect can mainly constrain light within waveguide, simultaneously
It is able to carry out optical power fluctuation, is the PLC of a 1:16 as shown in Figure 8.The device can also use in turn, realize the conjunction of light
Shu Gongneng.
For example, the light that power is P is incident from port 0, optical power will be exported from the port port 1- 16, the light of every road output
Power will be P/16.
For another example, light is incident from the port port 1- 16, it will exported from port 0, power be 16 port incident powers it
With.
The structure of light cube is as Figure 2-3, is that 16 PLC are carried out heap poststack to be formed by cubic structure.Cube
One side be 16*16 port, another side be 16 ports.Port is numbered by following rule.Port address=(PLC
Number, port numbers).
As shown in figure 4, detector array is classified as 16 detector rows into linear array, the period of detector and the port period of PLC
Identical (space length that the period refers to two neighboring detector center).
As shown in figure 5, laser array is that 16 lasers line up linear array, the period of laser and the port period of PLC
It is identical.
As shown in fig. 6, detector array and light cube are combined, DETECTOR1 is to quasi-optical cube of (row 1, port
0) port, detector 16 is to quasi-optical cube (row 16, port 0) port.
In this way, from the arbitrary port of light cube, (light of row x, port y) incidence will be assigned to be expert at x pairs by light cube
The detector detector x answered.
The structure being illustrated in figure 7 after being combined laser array and light cube, LD1 to quasi-optical cube (row 1,
Port 0) port, LD16 is to quasi-optical cube (row 16, port 0) port.
In this way, will uniformly be distributed from the light that LDx laser issues to the port of row x 1 to port 16
Fig. 1 is returned, detector module and laser module are arranged side by side, wherein detector array is classified as the direction y, laser
Array is the direction x, and corresponding two light cube is also in quadrature.The plane of the array of ports of light cube is placed in light
Learn the focal plane of camera lens.
The method for realizing optical scanner is:
LD1 shines, and the light issued will be simultaneously emitted by from the port port 1- 16 of the row 1 of light cube, by optical lens
After being irradiated to object under test, laser is reflected, and is received by the port 1 of the row 1- row 16 of the light cube of receiving module, and then quilt
Detector 1- detector 16 receives simultaneously, carries out selection control to detector by circuit at this time, from 1 output signal of detector.
Make LD1 continuous luminous 16 times, sequential selection detector will realize the one-dimensional scanning of 16 points.And so on, continue to make
LD2-LD16 shines, and will realize the scanning of another dimension.Equipment of the invention may be implemented to region corresponding to entire surface battle array
Scanning, also can according to need to part face battle array corresponding to region be scanned, for example, can be to 4*4 range therein
An interior specific region is scanned or detects to the corresponding region of some point therein.
The selection control of circuit is relied solely on, it will be able to realize camera lens coke without any moving component by this device
In plane, the lattice scanning of 16*16, that is, realize the spacescan of light beam.
Then, pass through the existing range measurement principle of laser ranging, so that it may realize the scanning ranging to target.
Ranging is carried out under polar coordinate system, if space arbitrary point M, its coordinate in rectangular coordinate system be (x, y,
Z), then following subordinate ordered arrayThe referred to as spherical coordinates of point M: coordinate r is distance of the point M to origin,It is to pass through z-axis
The angle constituted with the half-plane and coordinate surface zOx of point M；θ is the angle of line segment OM Yu z-axis positive direction, therefore, in space this
The variation range of a little coordinates is:
0≤r≤+∞；0≤θ≤π
Present invention utilizes a principles of perfect optics camera lens, that is, for perfect optics camera lens, it has will not
The function of difference on focal plane is mapped to angle incident ray.The point that a coordinate determines namely on camera lens focal plane
(x, y) is corresponded in polar coordinate systemLight beam, wherein r be arbitrary value.
That is, by using the laser radar of planar array scanning of the invention, by founding light corresponding to detector
The light inlet (face 16*16 battle array side) of side is arranged on the focal plane of optical lens, can be realized to entire optical lens visual field
Detection in range.Certainly, the light-emitting window of the light cube in front of laser array is also disposed at the coke of the optical lens in front of it
In plane, in this way after the light that laser array is issued is incident on optical lens along the different light-emitting window of light cube,
After optical lens reflects, can the different direction of directive, and then realize greater area of detection.
Although the principle of the present invention is described in detail above in conjunction with the preferred embodiment of the present invention, this field skill
Art personnel are it should be understood that above-described embodiment is only the explanation to exemplary implementation of the invention, not to present invention packet
Restriction containing range.Details in embodiment is simultaneously not meant to limit the scope of the invention, without departing substantially from spirit of the invention and
In the case where range, any equivalent transformation based on technical solution of the present invention, simple replacement etc. obviously change, and all fall within
Within the scope of the present invention.
Claims (9)
1. a kind of novel face battle array laser radar, which is characterized in that the face battle array laser radar includes: laser array, detector
Array, optical lens, laser optical path adjustment device and signal light optical path adjustment device.
2. novel face battle array laser radar according to claim 1, which is characterized in that the laser array is laser line
Battle array, the laser linear array are arranged along first direction, and the detector array is classified as detector lines battle array, and the detector linear array is along the
The setting of two directions.
3. novel face battle array laser radar according to claim 2, which is characterized in that the laser optical path adjustment device is that
This multiple planar optical waveguide PLC being stacked along first direction, the signal light optical path adjustment device are stacked in a second direction
Multiple planar optical waveguide PLC.
4. novel face battle array laser radar according to claim 3, which is characterized in that the number of laser in laser array
The number of PLC in mesh, laser optical path adjustment device, in detector array detector number and signal light optical path adjustment device
The number of middle PLC is mutually the same.
5. novel face battle array laser radar according to claim 3, which is characterized in that the laser optical path adjustment device is put down
In the optical waveguide PLC of face, the input port of multiple planar optical waveguide PLC is arranged by linear array, and each input port swashs with described respectively
Each light-emitting window of light device array is corresponding；In the planar optical waveguide PLC of the signal light optical path adjustment device, multiple plane light waves
The output port for leading PLC is arranged by linear array, and corresponding detector is corresponding to the detector array respectively for each output port.
6. novel face battle array laser radar according to claim 2, which is characterized in that the novel face battle array laser radar also wraps
Sequence controller is included, the sequence controller controls each laser sequential working in the laser array, and works as and appoint
When a laser works of anticipating, the sequence controller controls each detector sequence starting in the detector array, complete
At one-dimensional scanning, after all lasers complete a wheel job, a wheel planar array scanning is completed.
7. novel face battle array laser radar according to claim 2, which is characterized in that the novel face battle array laser radar also wraps
Sequence controller is included, the laser that the sequence controller controls in the laser array works in a predetermined order, and works as
When any one laser works, the detector that the sequence controller controls in the detector array opens in a predetermined order
It is dynamic.
8. novel face battle array laser radar according to claim 2, which is characterized in that the laser optical path adjustment device is more
A one-to-many beam splitting channel.
9. a kind of laser detection system using the battle array laser radar of novel face described in one of claim 1-8.
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| CN202110228223.3A CN112835016B (en) | 2018-12-11 | 2018-12-11 | Area array laser radar, laser module and detector module |
| CN201811512676.3A CN109490865B (en) | 2018-12-11 | 2018-12-11 | Area array laser radar |
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| CN110389121A (en) * | 2019-07-24 | 2019-10-29 | 中国科学院半导体研究所 | Multifocal Structured Illumination fluoroscopic imaging systems |
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| CN112835016B (en) | 2024-06-21 |
| CN109490865B (en) | 2021-03-05 |
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